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The problem could be a valve body solenoid. Maybe a transmission guru with chime in. If you have to drive the car, try shifting from 1 to 3 (doing it gently on the throttle)) until you find the cause. If not, you could wear the clutched if they are not worn yet. The solenoid change is a reasonable cost job. Changing the clutches is not.
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F06 M6 Grand Coupe CP
Sapphire Black Metallic
The drive is the destination
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